Perspective of use of Virtual Reality technologies in Nuclear Fusion

Program: 9.45 Prof. Vincenzo Coccorese - President of CREATE Consortium - Visit to CREATE Consortium - Faculty of Engineering, Via Claudio 21, 80125 Naples. 10.30 Prof. Bruno Siciliano and Prof. Vincenzo Lippiello - PRISMA Lab - Visit to the PRISMA Lab - Faculty of Engineering, Via Claudio 21, 80125 Naples. 12.00 Prof. Giuseppe Di Gironimo, University of Naples Federico II, DiME - Visit to the Virtual Reality Lab IDEAinVR (Interactive Design and Ergonomics Applications in VR) - Faculty of Engineering, P.le Tecchio 80, 80125 Naples - Presentation of the activities carried out by IDEA Lab in the design of FAST (Fusion Advanced Studies Torus) reactor. 13.30 Lunch. 15.00 Prof. Giuseppe Di Gironimo and Prof. Fabrizio Renno, University of Naples Federico II, DiME - Virtual Design Review of different solutions for the divertor locking system in the vacuum vessel, developed during the collaboration with VTT in Tampere (Finland). 15.00 Dr. Eng. Muhammad Ali, VTT - Presentation of the Divertor Test Paltform 2 (DTP-2) Facility and of the Remote Operation and Virtual Reality centre, (ROViR). - The use of virtual prototyping and simulation in ITER maintenance device development. 17.00 Discussion about possible future cooperation between DiME and VTT 18.00 Conclusion

Plasma facing components: A conceptual design strategy for the first wall in FAST tokamak

Satellite tokamaks are conceived with the main purpose of developing new or alternative ITER- and DEMO-relevant technologies, able to contribute in resolving the pending issues about plasma operation. In particular, a high criticality needs to be associated to the design of plasma facing components, i.e. first wall (FW) and divertor, due to physical, topological and thermo-structural reasons. In such a context, the design of the FW in FAST fusion plant, whose operational range is close to ITER’s one, takes place. According to the mission of experimental satellites, the FW design strategy, which is presented in this paper relies on a series of innovative design choices and proposals with a particular attention to the typical key points of plasma facing components design. Such an approach, taking into account a series of involved physical constraints and functional requirements to be fulfilled, marks a clear borderline with the FW solution adopted in ITER, in terms of basic ideas, manufacturing aspects, remote maintenance procedure, manifolds management, cooling cycle and support system configuration

Does the Embodiment Influence the Success of Visuo-haptic Learning?

The purpose of this work is to demonstrate the influence of embodiment on the success of Visuo-haptic Learning, as it has not been yet investigated by current literature. With this aim, we conducted an experimental campaign to compare the users’ Sense of Embodiment (SoE) and learning success values obtained by experiencing the same simulated duty cycle within two different Visuo-haptic Learning environments. Interesting results have been found: the embodiment influenced the users’ completion time and mental workload, but it did not have particular incidence on the obtained learning level (intended as knowledge of the procedure). With this work, we aim to highlight the necessity of conducting wider and deeper studies about the influence of human factors and subjective perceptions on the success of Visuo-haptic Learning

From Differential Geometry of Curves to Helical Kinematics of Continuum Robots Using Exponential Mapping

Kinematic modeling of continuum robots is challenging due to the large deflections that these systems usually undergone. In this paper, we derive the kinematics of a continuum robot from the evolution of a three-dimensional curve in space. We obtain the spatial configuration of a continuum robot in terms of exponential coordinates based on Lie group theory. This kinematic framework turns out to handle robotic helical shapes, i.e. spatial configurations with constant curvature and torsion of the arm

coupling of a redundant manipulator with a virtual reality environment to enhance human robot cooperation

Abstract The current trend in manufacturing is to obtain a flexible work cell in which human and robot can safely interact and collaborate. Virtual Reality (VR) represents an effective tool capable of simulating such complex systems with a high level of immersion. In order to take advantage of VR technologies to study Human-Robot Cooperation (HRC), a digital model of a redundant manipulator (KUKA LBR iiwa) has been developed starting with kinematic modeling and then coupled with the real robot. This approach allows simulating HRC in several scenarios, to reproduce the safe behavior on the real robot, as well as to train operators

Outdoor Tests for the Validation of an Inertial System Able to Detect Illegal Steps in Race-walking

Abstract Aim of this study was to validate an inertial system able to detect the loss of ground contact (LOGC) in race-walking through outdoor tests in real training conditions. An inertial sensor was placed at L5/S1 of the vertebral column of a Italian national team athlete to acquire timing measurements of the LOGC. Data were encoded by a well-defined protocol. After a preliminary laboratory study, the athlete performed outdoor-field-tests at different velocities. A specific e-bike with a high-speed camera allowed to acquire a video and to validate sensor measurements. Results indicate that the inertial system can improve the accuracy in detecting the visible LOGC

Simulation of forest harvesting alternative processes and concept design of an innovative skidding winch focused on productivity improvement

In contexts in which mechanized harvesting is limited, such as in the northwestern Black Sea region of Turkey, it is important to improve timber harvesting productivity while preserving operators' safety and reducing environmental damage. This study aims to introduce a methodology in which the harvesting process is simulated with discrete-event simulation (DES) software in order to identify bottlenecks. An alternative process is compared to the original within the DES software, carrying out further steps oriented to the generation of new innovative product concepts. As a case study, the design of an innovative skidding winch is proposed. The development of the product was focused towards customer satisfaction by collecting customer requirements and identifying quality characteristics with a quality function deployment approach. Contradictions identified in the design phase were solved using the TRIZ contradiction toolkit, generating different product concepts. Inventive solutions provided by TRIZ were designed within parametric CAD software. The concepts were compared in a virtual environment, eventually selecting an optimal solution. The results showed that, with the concept adopted, it is possible to achieve a substantial increase in productivity, from 121% to 133%, in terms of kilograms of logs per hour deposited on the landing

User-centered approach for design and development of industrial workplace

AbstractIn this paper, we propose a user-centered approach for the design of ergonomic workplaces. The method is based on the evaluation of subjective opinions and objective measures from the worker, while performing the industrial tasks. The ergonomic design of industrial workplaces will have impact in reducing the musculoskeletal disorders of workers

conceptual design and control strategy of a robotic cell for precision assembly in radar antenna systems

Abstract Dip-Brazing is a metal-joining process in which two or more metal items are joined together using a low-temperature melting element as filler. In telecommunication field, this process is used to fabricate radar antenna systems. The process begins with the assembly of the parts constituting the antenna and the thin filler sheet used to join the parts. The mechanical deformations of the micro-pins of the parts allow to obtain a more compact mechanical assembly, before than the antenna system is subjected to an immersion cycle used for adjoining the parts. In this work, we present the design of the robotic cell to automate the assembly procedure in the aluminum dip-brazing of antenna in MBDA missile systems. In particular, we propose a robotic cell using two stations: i) assembly, using a SCARA manipulator; ii) riveting, using a three-axis cartesian robot designed for positioning a radial riveting unit. Motion control of the robots and scheduling of the operations is presented. Experiments simulated in a virtual environment show an almost perfect tracking of the designed trajectories. The standardization of the procedure as well as the reduction of its execution time is thus achieved for the industrial scenario